This is the aim of the present article.Similar approaches are proposed by [6,7], with more simple map models, and by [8], Tofacitinib citrate with ray-tracing algorithm. Last but not least, let us mention the approach that was proposed by [9,10], under the name ��shadow selleck chemicals matching��: the investigations undertaken aim at testing which one from a set of possible localizations around a standard initial solution is the most probable with Inhibitors,Modulators,Libraries respect to the coherence between a 3D model based prediction of LOS/NLOS satellites and the actual satellites in view. First results in London are very promising in terms of street lane separation including sidewalk. Additionally, shadow matching appears complementary to direct NLOS detection methods, as presented by [11].

This article is divided into three main sections.

We first explain the methodology and mention the results obtained in the feasibility study based on a kinematic GPS Inhibitors,Modulators,Libraries INS solution. In the second part, a map-aided positioning filter is presented that takes advantage of the information Inhibitors,Modulators,Libraries given by the Inhibitors,Modulators,Libraries 3D model in terms of road constraints. The third and last part analyzes Inhibitors,Modulators,Libraries the experimental results obtained by the LOS/NLOS separation algorithm based on the previous constrained solution. The efficiency of the road constraints in this process will be demonstrated. Finally, we will discuss the impact of the separation algorithm and its interest with respect Inhibitors,Modulators,Libraries to the localization problem, before and after a final map-aiding, and we will compare this algorithm to Inhibitors,Modulators,Libraries a more usual satellite selection based on signal-to-noise ratio (SNR).

These comparisons are done from data registered in a real experiment in the center of Inhibitors,Modulators,Libraries Paris (France). The duration of this experiment is about 10 minutes and the total length of the circuit is about 2 km in an archetypal European urban center.2.?Presentation of the NLOS Detection MethodThe core of the method consists in checking Dacomitinib whether a satellite that generates a signal received by the GNSS receiver can be directly viewed (LOS) or not (NLOS) by the receiver antenna. With this aim in mind, one needs the predicted position of the receiver, the predicted positions of the satellites, Anacetrapib and the map of the environment in the same reference frame.

A 3D city model of the environment is available in a Geographical Information System (GIS) embedded software from BeNomad company [12], SIVNav SDK (Software Development Kit), which is dedicated to augmented reality, 3D map rendering and vision for robotics.

It contains sellckchem a geometrical description of buildings, roads (actually streets) and sidewalks. The 3D elements that are in the vicinity of the receiver localization are extracted from the database, and a virtual image is returned. Extraction Alvespimycin and image computation are basic functions of the GIS. The availability of this software, on the CityVIP platform, has motivated the use of a virtual image.